//TEST_ROBOT_TYPE
//100-199 测试单独伺服
//100=HUICHUAN-axis 1
//101=HUICHUAN-axis 2
//102=HUICHUAN-axis2+OMULONG-axis1


//100=HUICHUAN-axis 1
#if TEST_ROBOT_TYPE==100

#define     GLOBAL_AXIS_NUM         1//0-1-6//需要设置轴数，从而决定for循环次数
#define     DIDO_FIRST         0//
#define     DIDO_SECODE         0//
#define     DIDO_LAST         0//


//Name VendorID Productcode
//IS620N only one kind servo
#define Dobot_Brand0 0x00100000, 0x000c0108
#define Dobot_Brand1 0x00100000, 0x000c0108
#define Dobot_Brand2 0x00100000, 0x000c0108
#define Dobot_Brand3 0x00100000, 0x000c0108
#define Dobot_Brand4 0x00100000, 0x000c0108
#define Dobot_Brand5 0x00100000, 0x000c0108

#define Dobot_Pos0 0, 0
#define Dobot_Pos1 0, 1
#define Dobot_Pos2 0, 2
#define Dobot_Pos3 0, 3
#define Dobot_Pos4 0, 4
#define Dobot_Pos5 0, 5

//will not be used but still need to define
#define Dobot_IOPos0 0, 0
#define Dobot_IOPos1 0, 1
#define Dobot_IOPos2 0, 8

//will not be used but still need to define
#define Dobot_IO0 0x00000a62, 0x00000221
#define Dobot_IO1 0x00000a62, 0x00000222
#define Dobot_IO2 0x00000a62, 0x00000230


//!!!!!!!!all input regs should include dido and servo
ec_pdo_entry_reg_t domainServoOutput_regs[] = {

    {Dobot_Pos0, Dobot_Brand0, 0x6040, 0x00, &controlword[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x607a, 0x00, &targetposition[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x60ff, 0x00, &targetvelocity[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6071, 0x00, &targettorque[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6060, 0x00, &modeofoperation[0], NULL},
    //{Dobot_Pos0, Dobot_Brand0, 0x6098, 0x00, &homingmethod[0], NULL},//随便绑定一个正确的东西,凑够6组

    {}
};

//!!!!!!!!all output regs should include dido and servo
ec_pdo_entry_reg_t domainServoInput_regs[] = {

    {Dobot_Pos0, Dobot_Brand0, 0x6041, 0x00, &statusword[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x603f, 0x00, &errorcode[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6064, 0x00, &actpos[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x606c, 0x00, &actvel[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6077, 0x00, &acttorque[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x60f4, 0x00, &actposfollowerror[0], NULL},

    {}
};

#endif

//101=HUICHUAN-axis 2
#if TEST_ROBOT_TYPE==101

#define     GLOBAL_AXIS_NUM         2//0-1-6 omulong axis have problem
#define     DIDO_FIRST         0//
#define     DIDO_SECODE         0//
#define     DIDO_LAST         0//

//Name VendorID Productcode
//IS620N only one kind servo
#define Dobot_Brand0 0x00100000, 0x000c0108//huichuan servo one
#define Dobot_Brand1 0x00100000, 0x000c0108//huichuan another servo even not the same type but vendorid not changed(see ethercat cstruct -a 0)
#define Dobot_Brand2 0x00000083, 0x00000005//this is omulong servo R88D-KN01H-ECT
#define Dobot_Brand3 0x00100000, 0x000c0108//not used!!!
#define Dobot_Brand4 0x00100000, 0x000c0108//not used!!!
#define Dobot_Brand5 0x00100000, 0x000c0108//not used!!!

#define Dobot_Pos0 0, 0
#define Dobot_Pos1 0, 1
#define Dobot_Pos2 0, 2
#define Dobot_Pos3 0, 3
#define Dobot_Pos4 0, 4
#define Dobot_Pos5 0, 5

//will not be used but still need to define
#define Dobot_IOPos0 0, 0
#define Dobot_IOPos1 0, 1
#define Dobot_IOPos2 0, 8

//will not be used but still need to define
#define Dobot_IO0 0x00000a62, 0x00000221
#define Dobot_IO1 0x00000a62, 0x00000222
#define Dobot_IO2 0x00000a62, 0x00000230


//!!!!!!!!all input regs should include dido and servo
ec_pdo_entry_reg_t domainServoOutput_regs[] = {

    {Dobot_Pos0, Dobot_Brand0, 0x6040, 0x00, &controlword[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x607a, 0x00, &targetposition[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x60ff, 0x00, &targetvelocity[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6071, 0x00, &targettorque[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6060, 0x00, &modeofoperation[0], NULL},
    //{Dobot_Pos0, Dobot_Brand0, 0x6098, 0x00, &homingmethod[0], NULL},//随便绑定一个正确的东西,凑够6组

    {Dobot_Pos1, Dobot_Brand1, 0x6040, 0x00, &controlword[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x607a, 0x00, &targetposition[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x60ff, 0x00, &targetvelocity[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x6071, 0x00, &targettorque[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x6060, 0x00, &modeofoperation[1], NULL},
    //{Dobot_Pos1, Dobot_Brand1, 0x6098, 0x00, &homingmethod[1], NULL},//随便绑定一个正确的东西,凑够6组

    {}
};

//!!!!!!!!all output regs should include dido and servo
ec_pdo_entry_reg_t domainServoInput_regs[] = {

    {Dobot_Pos0, Dobot_Brand0, 0x6041, 0x00, &statusword[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x603f, 0x00, &errorcode[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6064, 0x00, &actpos[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x606c, 0x00, &actvel[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6077, 0x00, &acttorque[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x60f4, 0x00, &actposfollowerror[0], NULL},

    {Dobot_Pos1, Dobot_Brand1, 0x6041, 0x00, &statusword[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x603f, 0x00, &errorcode[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x6064, 0x00, &actpos[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x606c, 0x00, &actvel[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x6077, 0x00, &acttorque[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x60f4, 0x00, &actposfollowerror[1], NULL},


    {}
};

#endif




//102=HUICHUAN-axis2+OMULONG-axis1
#if TEST_ROBOT_TYPE==102

#define     GLOBAL_AXIS_NUM         3//0-1-6 omulong axis have problem
#define     DIDO_FIRST         0//
#define     DIDO_SECODE         0//
#define     DIDO_LAST         0//

//Name VendorID Productcode
//IS620N only one kind servo
#define Dobot_Brand0 0x00100000, 0x000c0108//huichuan servo one
#define Dobot_Brand1 0x00100000, 0x000c0108//huichuan another servo even not the same type but vendorid not changed(see ethercat cstruct -a 0)
#define Dobot_Brand2 0x00000083, 0x00000005//this is omulong servo R88D-KN01H-ECT
#define Dobot_Brand3 0x00100000, 0x000c0108//not used!!!
#define Dobot_Brand4 0x00100000, 0x000c0108//not used!!!
#define Dobot_Brand5 0x00100000, 0x000c0108//not used!!!

#define Dobot_Pos0 0, 0
#define Dobot_Pos1 0, 1
#define Dobot_Pos2 0, 2
#define Dobot_Pos3 0, 3
#define Dobot_Pos4 0, 4
#define Dobot_Pos5 0, 5

//will not be used but still need to define
#define Dobot_IOPos0 0, 0
#define Dobot_IOPos1 0, 1
#define Dobot_IOPos2 0, 8

//will not be used but still need to define
#define Dobot_IO0 0x00000a62, 0x00000221
#define Dobot_IO1 0x00000a62, 0x00000222
#define Dobot_IO2 0x00000a62, 0x00000230


//!!!!!!!!all input regs should include dido and servo
ec_pdo_entry_reg_t domainServoOutput_regs[] = {

    {Dobot_Pos0, Dobot_Brand0, 0x6040, 0x00, &controlword[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x607a, 0x00, &targetposition[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x60ff, 0x00, &targetvelocity[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6071, 0x00, &targettorque[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6060, 0x00, &modeofoperation[0], NULL},
    //{Dobot_Pos0, Dobot_Brand0, 0x6098, 0x00, &homingmethod[0], NULL},//随便绑定一个正确的东西,凑够6组

    {Dobot_Pos1, Dobot_Brand1, 0x6040, 0x00, &controlword[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x607a, 0x00, &targetposition[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x60ff, 0x00, &targetvelocity[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x6071, 0x00, &targettorque[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x6060, 0x00, &modeofoperation[1], NULL},
    //{Dobot_Pos1, Dobot_Brand1, 0x6098, 0x00, &homingmethod[1], NULL},//随便绑定一个正确的东西,凑够6组

    {Dobot_Pos2, Dobot_Brand2, 0x6040, 0x00, &controlword[2], NULL},
    {Dobot_Pos2, Dobot_Brand2, 0x607a, 0x00, &targetposition[2], NULL},
    {Dobot_Pos2, Dobot_Brand2, 0x60ff, 0x00, &targetvelocity[2], NULL},
    {Dobot_Pos2, Dobot_Brand2, 0x6071, 0x00, &targettorque[2], NULL},
    {Dobot_Pos2, Dobot_Brand2, 0x6060, 0x00, &modeofoperation[2], NULL},
    //{Dobot_Pos2, Dobot_Brand2, 0x6098, 0x00, &homingmethod[2], NULL},//随便绑定一个正确的东西,凑够6组

    {}
};

//!!!!!!!!all output regs should include dido and servo
ec_pdo_entry_reg_t domainServoInput_regs[] = {

    {Dobot_Pos0, Dobot_Brand0, 0x6041, 0x00, &statusword[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x603f, 0x00, &errorcode[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6064, 0x00, &actpos[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x606c, 0x00, &actvel[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6077, 0x00, &acttorque[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x60f4, 0x00, &actposfollowerror[0], NULL},

    {Dobot_Pos1, Dobot_Brand1, 0x6041, 0x00, &statusword[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x603f, 0x00, &errorcode[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x6064, 0x00, &actpos[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x606c, 0x00, &actvel[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x6077, 0x00, &acttorque[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x60f4, 0x00, &actposfollowerror[1], NULL},

    {Dobot_Pos2, Dobot_Brand2, 0x6041, 0x00, &statusword[2], NULL},
    {Dobot_Pos2, Dobot_Brand2, 0x603f, 0x00, &errorcode[2], NULL},
    {Dobot_Pos2, Dobot_Brand2, 0x6064, 0x00, &actpos[2], NULL},
    {Dobot_Pos2, Dobot_Brand2, 0x606c, 0x00, &actvel[2], NULL},
    {Dobot_Pos2, Dobot_Brand2, 0x6077, 0x00, &acttorque[2], NULL},
    {Dobot_Pos2, Dobot_Brand2, 0x60f4, 0x00, &actposfollowerror[2], NULL},

    {}
};

#endif



//110=MC5004-axis 1
#if TEST_ROBOT_TYPE==110

#define     GLOBAL_AXIS_NUM         1//0-1-6//需要设置轴数，从而决定for循环次数
#define     DIDO_FIRST         0//
#define     DIDO_SECODE         0//
#define     DIDO_LAST         0//


//Name VendorID Productcode
//IS620N only one kind servo
#define Dobot_Brand0 0x00000147, 0x00003139
#define Dobot_Brand1 0x00000147, 0x00003139
#define Dobot_Brand2 0x00000147, 0x00003139
#define Dobot_Brand3 0x00000147, 0x00003139
#define Dobot_Brand4 0x00000147, 0x00003139
#define Dobot_Brand5 0x00000147, 0x00003139

#define Dobot_Pos0 0, 0
#define Dobot_Pos1 0, 1
#define Dobot_Pos2 0, 2
#define Dobot_Pos3 0, 3
#define Dobot_Pos4 0, 4
#define Dobot_Pos5 0, 5

//will not be used but still need to define
#define Dobot_IOPos0 0, 0
#define Dobot_IOPos1 0, 1
#define Dobot_IOPos2 0, 8

//will not be used but still need to define
#define Dobot_IO0 0x00000a62, 0x00000221
#define Dobot_IO1 0x00000a62, 0x00000222
#define Dobot_IO2 0x00000a62, 0x00000230


//!!!!!!!!all input regs should include dido and servo
ec_pdo_entry_reg_t domainServoOutput_regs[] = {

    {Dobot_Pos0, Dobot_Brand0, 0x6040, 0x00, &controlword[0], NULL},

    //???
    {Dobot_Pos0, Dobot_Brand0, 0x607a, 0x00, &targetposition[0], NULL},


    //{Dobot_Pos0, Dobot_Brand0, 0x60ff, 0x00, &targetvelocity[0], NULL},
    //{Dobot_Pos0, Dobot_Brand0, 0x6071, 0x00, &targettorque[0], NULL},
    //{Dobot_Pos0, Dobot_Brand0, 0x6060, 0x00, &modeofoperation[0], NULL},
    //{Dobot_Pos0, Dobot_Brand0, 0x6098, 0x00, &homingmethod[0], NULL},//随便绑定一个正确的东西,凑够6组

    {}
};

//!!!!!!!!all output regs should include dido and servo
ec_pdo_entry_reg_t domainServoInput_regs[] = {

    {Dobot_Pos0, Dobot_Brand0, 0x6041, 0x00, &statusword[0], NULL},
    //{Dobot_Pos0, Dobot_Brand0, 0x603f, 0x00, &errorcode[0], NULL},

    //???
    {Dobot_Pos0, Dobot_Brand0, 0x6064, 0x00, &actpos[0], NULL},


    //{Dobot_Pos0, Dobot_Brand0, 0x606c, 0x00, &actvel[0], NULL},
    //{Dobot_Pos0, Dobot_Brand0, 0x6077, 0x00, &acttorque[0], NULL},
    //{Dobot_Pos0, Dobot_Brand0, 0x60f4, 0x00, &actposfollowerror[0], NULL},

    {}
};

#endif



//111=MC5004-STO-axis 1
#if TEST_ROBOT_TYPE==111

#define     GLOBAL_AXIS_NUM         1//0-1-6//需要设置轴数，从而决定for循环次数
#define     DIDO_FIRST         0//
#define     DIDO_SECODE         0//
#define     DIDO_LAST         0//


//Name VendorID Productcode
//IS620N only one kind servo
#define Dobot_Brand0 0x00000147, 0x0000313a
#define Dobot_Brand1 0x00000147, 0x0000313a
#define Dobot_Brand2 0x00000147, 0x0000313a
#define Dobot_Brand3 0x00000147, 0x0000313a
#define Dobot_Brand4 0x00000147, 0x0000313a
#define Dobot_Brand5 0x00000147, 0x0000313a

#define Dobot_Pos0 0, 0
#define Dobot_Pos1 0, 1
#define Dobot_Pos2 0, 2
#define Dobot_Pos3 0, 3
#define Dobot_Pos4 0, 4
#define Dobot_Pos5 0, 5

//will not be used but still need to define
#define Dobot_IOPos0 0, 0
#define Dobot_IOPos1 0, 1
#define Dobot_IOPos2 0, 8

//will not be used but still need to define
#define Dobot_IO0 0x00000a62, 0x00000221
#define Dobot_IO1 0x00000a62, 0x00000222
#define Dobot_IO2 0x00000a62, 0x00000230


//!!!!!!!!all input regs should include dido and servo
ec_pdo_entry_reg_t domainServoOutput_regs[] = {

    {Dobot_Pos0, Dobot_Brand0, 0x6040, 0x00, &controlword[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x607a, 0x00, &targetposition[0], NULL},


    {}
};

//!!!!!!!!all output regs should include dido and servo
ec_pdo_entry_reg_t domainServoInput_regs[] = {

    {Dobot_Pos0, Dobot_Brand0, 0x6041, 0x00, &statusword[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6064, 0x00, &actpos[0], NULL},


    {}
};

#endif


//113=MC5004-STO-axis 4
#if TEST_ROBOT_TYPE==113

#define     GLOBAL_AXIS_NUM         4//0-1-6//需要设置轴数，从而决定for循环次数
#define     DIDO_FIRST         0//
#define     DIDO_SECODE         0//
#define     DIDO_LAST         0//


//Name VendorID Productcode
//IS620N only one kind servo
#define Dobot_Brand0 0x00000147, 0x0000313a
#define Dobot_Brand1 0x00000147, 0x0000313a
#define Dobot_Brand2 0x00000147, 0x0000313a
#define Dobot_Brand3 0x00000147, 0x0000313a
#define Dobot_Brand4 0x00000147, 0x0000313a
#define Dobot_Brand5 0x00000147, 0x0000313a

#define Dobot_Pos0 0, 0
#define Dobot_Pos1 0, 1
#define Dobot_Pos2 0, 2
#define Dobot_Pos3 0, 3
#define Dobot_Pos4 0, 4
#define Dobot_Pos5 0, 5

//will not be used but still need to define
#define Dobot_IOPos0 0, 0
#define Dobot_IOPos1 0, 1
#define Dobot_IOPos2 0, 8

//will not be used but still need to define
#define Dobot_IO0 0x00000a62, 0x00000221
#define Dobot_IO1 0x00000a62, 0x00000222
#define Dobot_IO2 0x00000a62, 0x00000230


//!!!!!!!!all input regs should include dido and servo
ec_pdo_entry_reg_t domainServoOutput_regs[] = {

    {Dobot_Pos0, Dobot_Brand0, 0x6040, 0x00, &controlword[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x607a, 0x00, &targetposition[0], NULL},

    {Dobot_Pos1, Dobot_Brand1, 0x6040, 0x00, &controlword[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x607a, 0x00, &targetposition[1], NULL},

    {Dobot_Pos2, Dobot_Brand2, 0x6040, 0x00, &controlword[2], NULL},
    {Dobot_Pos2, Dobot_Brand2, 0x607a, 0x00, &targetposition[2], NULL},

    {Dobot_Pos3, Dobot_Brand3, 0x6040, 0x00, &controlword[3], NULL},
    {Dobot_Pos3, Dobot_Brand3, 0x607a, 0x00, &targetposition[3], NULL},


    {}
};

//!!!!!!!!all output regs should include dido and servo
ec_pdo_entry_reg_t domainServoInput_regs[] = {

    {Dobot_Pos0, Dobot_Brand0, 0x6041, 0x00, &statusword[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6064, 0x00, &actpos[0], NULL},

    {Dobot_Pos1, Dobot_Brand1, 0x6041, 0x00, &statusword[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x6064, 0x00, &actpos[1], NULL},

    {Dobot_Pos2, Dobot_Brand2, 0x6041, 0x00, &statusword[2], NULL},
    {Dobot_Pos2, Dobot_Brand2, 0x6064, 0x00, &actpos[2], NULL},

    {Dobot_Pos3, Dobot_Brand3, 0x6041, 0x00, &statusword[3], NULL},
    {Dobot_Pos3, Dobot_Brand3, 0x6064, 0x00, &actpos[3], NULL},


    {}
};

#endif



//114=MC5004-STO-axis 4
#if TEST_ROBOT_TYPE==114

#define     GLOBAL_AXIS_NUM         4//0-1-6//需要设置轴数，从而决定for循环次数
#define     DIDO_FIRST         0//
#define     DIDO_SECODE         0//
#define     DIDO_LAST         0//


//Name VendorID Productcode
//IS620N only one kind servo
#define Dobot_Brand0 0x00000147, 0x0000313a
#define Dobot_Brand1 0x00000147, 0x0000313a
#define Dobot_Brand2 0x00000147, 0x0000313a
#define Dobot_Brand3 0x00000147, 0x0000313a
#define Dobot_Brand4 0x00000147, 0x0000313a
#define Dobot_Brand5 0x00000147, 0x0000313a

#define Dobot_Pos0 0, 0
#define Dobot_Pos1 0, 1
#define Dobot_Pos2 0, 2
#define Dobot_Pos3 0, 3
#define Dobot_Pos4 0, 4
#define Dobot_Pos5 0, 5

//will not be used but still need to define
#define Dobot_IOPos0 0, 0
#define Dobot_IOPos1 0, 1
#define Dobot_IOPos2 0, 8

//will not be used but still need to define
#define Dobot_IO0 0x00000a62, 0x00000221
#define Dobot_IO1 0x00000a62, 0x00000222
#define Dobot_IO2 0x00000a62, 0x00000230


//!!!!!!!!all input regs should include dido and servo
ec_pdo_entry_reg_t domainServoOutput_regs[] = {

    {Dobot_Pos0, Dobot_Brand0, 0x6040, 0x00, &controlword[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x607a, 0x00, &targetposition[0], NULL},

    {Dobot_Pos1, Dobot_Brand1, 0x6040, 0x00, &controlword[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x607a, 0x00, &targetposition[1], NULL},

    {Dobot_Pos2, Dobot_Brand2, 0x6040, 0x00, &controlword[2], NULL},
    {Dobot_Pos2, Dobot_Brand2, 0x607a, 0x00, &targetposition[2], NULL},

    {Dobot_Pos3, Dobot_Brand3, 0x6040, 0x00, &controlword[3], NULL},
    {Dobot_Pos3, Dobot_Brand3, 0x607a, 0x00, &targetposition[3], NULL},


    {}
};

//!!!!!!!!all output regs should include dido and servo
ec_pdo_entry_reg_t domainServoInput_regs[] = {

    {Dobot_Pos0, Dobot_Brand0, 0x6041, 0x00, &statusword[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6064, 0x00, &actpos[0], NULL},
    {Dobot_Pos0, Dobot_Brand0, 0x6077, 0x00, &acttorque[0], NULL},

    {Dobot_Pos1, Dobot_Brand1, 0x6041, 0x00, &statusword[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x6064, 0x00, &actpos[1], NULL},
    {Dobot_Pos1, Dobot_Brand1, 0x6077, 0x00, &acttorque[1], NULL},

    {Dobot_Pos2, Dobot_Brand2, 0x6041, 0x00, &statusword[2], NULL},
    {Dobot_Pos2, Dobot_Brand2, 0x6064, 0x00, &actpos[2], NULL},
    {Dobot_Pos2, Dobot_Brand2, 0x6077, 0x00, &acttorque[2], NULL},

    {Dobot_Pos3, Dobot_Brand3, 0x6041, 0x00, &statusword[3], NULL},
    {Dobot_Pos3, Dobot_Brand3, 0x6064, 0x00, &actpos[3], NULL},
    {Dobot_Pos3, Dobot_Brand3, 0x6077, 0x00, &acttorque[3], NULL},


    {}
};

#endif



